移动机器人编队控制的现状与问题

Formation control of mobile robots: state and open problems

随着机器人向系统应用的方向发展,移动机器人编队控制问题成为研究的热点问题.为此,依据解决编队控制问题的不同思路,总结了编队控制的各种研究方法:基于行为法、人工势场法、跟随-领航法、虚结构法、循环法、模型预测控制法、分布式控制法,分别对几种编队控制方法的基本思想和特点进行总结和分析,最后从通用性、稳定性、鲁棒性和安全性等方面阐述了移动机器人编队控制理论与应用方面有待进一步研究的几个主要问题.

In recent years, research on formation control has received a lot of attention in robotics. This paper presents a comprehensive review of formation control for multiple mobile robots under different scenarios. Proposals for formation control reviewed include a behavior-based approach, an artificial potential field approach, a leader-follower approach, a virtual structural approach, a cyclic approach, a model predictive control approach, and a distributed control approach. Problems identified in working with each model＇s theoretical and practical properties are discussed from the perspectives of generality, stability, robustness and safety.